Replay¶

The rd replay command replays recorded follower arm motion on the physical hardware. Two data sources are supported:

Source	Flag	Description
Raw (default)	`--source raw`	Streams joint commands directly from `robot_data.npz`. No IK required. Use this to verify a recording before converting it.
Processed	`--source processed`	Loads EE poses from converted `lowdim/` pkl files and solves IK at each keyframe.

Note

Replay drives the follower arms only. Leader arms and cameras are not involved.

Usage¶

Running rd replay with no arguments opens an interactive fzf selector over data/raw/:

rd replay

To replay from a converted (processed) episode:

rd replay --source processed

Or point directly at an episode directory:

rd replay --recording_dir data/raw/pick_purrito/pick_purrito_20260312_220000

Options¶

Flag	Default	Description
`--recording_dir`	interactive	Path to an episode directory
`--source`	`raw`	Data source: `raw` or `processed`
`--arms`	`bimanual`	Which arms to replay: `bimanual` or `single` (left only)
`--speed`	`1.0`	Playback speed multiplier (e.g. `0.5` = half speed, `2.0` = double speed)

Workflow¶

The selected episode directory is loaded (auto-detected as raw or processed).
Both follower arms move smoothly to the first recorded pose (3-second ramp).
Poses are streamed at control_hz (150 Hz), scaled by --speed.
On completion (or Ctrl-C), the arms return to their home positions.

Example¶

# Replay raw recording at half speed for inspection
rd replay --speed 0.5

# Replay a processed episode with IK
rd replay --source processed --speed 0.5

# Replay a specific raw episode, single arm
rd replay --recording_dir data/raw/pick_purrito/pick_purrito_20260312_220000 \
                 --arms single